A 'current' statistical model and adaptive algorithm for estimating maneuvering targets

A model concept for maneuvering targets is proposed in this paper and a modified Rayleigh density is proposed to describe the current probability density of target maneuvering acceleration. The physical relation between the state (acceleration) estimate and the mean value of the state noise in the special case discussed here is also pointed out. Based on these two points, an adaptive Kalman filter for the mean and variance of the maneuvering acceleration is given. Some computer simulation results in oneand three-dimensional cases are given. The simulation results show that the proposed adaptive algorithm can estimate well the states of highly maneuvering targets.